WO2023283457A1 - Système d'intervention robotique portatif guidé par des images en temps réel - Google Patents

Système d'intervention robotique portatif guidé par des images en temps réel Download PDF

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Publication number
WO2023283457A1
WO2023283457A1 PCT/US2022/036576 US2022036576W WO2023283457A1 WO 2023283457 A1 WO2023283457 A1 WO 2023283457A1 US 2022036576 W US2022036576 W US 2022036576W WO 2023283457 A1 WO2023283457 A1 WO 2023283457A1
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WO
WIPO (PCT)
Prior art keywords
instrument
instrument guide
igris
imaging device
real
Prior art date
Application number
PCT/US2022/036576
Other languages
English (en)
Inventor
Jason Tomas WILSON
Kevin Christopher CHU
Benjamin Joseph GREER
Alexander Tarek HASSAN
Joshua Francis DEFONZO
Aren Calder HILL
Erica Ding CHIN
Trent Michael CALLAN
Original Assignee
Mendaera, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mendaera, Inc. filed Critical Mendaera, Inc.
Priority to AU2022307541A priority Critical patent/AU2022307541A1/en
Priority to CA3226286A priority patent/CA3226286A1/fr
Priority to EP22838490.5A priority patent/EP4366649A1/fr
Publication of WO2023283457A1 publication Critical patent/WO2023283457A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3925—Markers, e.g. radio-opaque or breast lesions markers ultrasonic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

Un système d'intervention robotique guidé par des images (« IGRIS ») peut être utilisé pour effectuer des procédures médicales sur des patients. L'IGRIS fournit une vue en temps réel de l'anatomie du patient, ainsi qu'une cible ou des cibles prévues destinées aux procédures, un logiciel qui permet à un utilisateur de planifier une approche ou une trajectoire à l'aide de l'image ou du dispositif robotique, un logiciel qui permet à un utilisateur de convertir une série d'images bidimensionnelles en un volume tridimensionnel, et situe le volume tridimensionnel par rapport à des images en temps réel pendant la procédure. L'IGRIS peut comprendre des capteurs pour estimer la pose du dispositif d'imagerie par rapport au patient pour améliorer les performances de ce logiciel par rapport à l'exécution, la robustesse et la précision.
PCT/US2022/036576 2021-07-08 2022-07-08 Système d'intervention robotique portatif guidé par des images en temps réel WO2023283457A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2022307541A AU2022307541A1 (en) 2021-07-08 2022-07-08 Real time image guided portable robotic intervention system
CA3226286A CA3226286A1 (fr) 2021-07-08 2022-07-08 Systeme d'intervention robotique portatif guide par des images en temps reel
EP22838490.5A EP4366649A1 (fr) 2021-07-08 2022-07-08 Système d'intervention robotique portatif guidé par des images en temps réel

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202163219662P 2021-07-08 2021-07-08
US63/219,662 2021-07-08

Publications (1)

Publication Number Publication Date
WO2023283457A1 true WO2023283457A1 (fr) 2023-01-12

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Application Number Title Priority Date Filing Date
PCT/US2022/036576 WO2023283457A1 (fr) 2021-07-08 2022-07-08 Système d'intervention robotique portatif guidé par des images en temps réel

Country Status (5)

Country Link
US (3) US11648070B2 (fr)
EP (1) EP4366649A1 (fr)
AU (1) AU2022307541A1 (fr)
CA (1) CA3226286A1 (fr)
WO (1) WO2023283457A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017220822A1 (fr) * 2016-06-23 2017-12-28 Fundación Tecnalia Research & Innovation Système robotique chirurgical et procédé de manipulation d'un système robotique chirurgical
WO2019148154A1 (fr) * 2018-01-29 2019-08-01 Lang Philipp K Guidage par réalité augmentée pour interventions chirurgicales orthopédiques et autres
US20190365209A1 (en) * 2018-05-31 2019-12-05 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise

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US11432895B2 (en) * 2005-12-20 2022-09-06 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
US11432885B2 (en) * 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
EP3801189A4 (fr) * 2018-05-31 2022-02-23 Auris Health, Inc. Navigation basée sur trajet de réseaux tubulaires
WO2020060750A1 (fr) * 2018-09-17 2020-03-26 Auris Health, Inc. Systèmes et procédés pour interventions médicales concomitantes
JP2022504768A (ja) * 2018-10-09 2022-01-13 ラトガーズ、ザ ステイト ユニバーシティ オブ ニュージャージー 経皮的カニューレ挿入器具の超音波ガイドによる位置合わせ及び挿入
US11857277B2 (en) * 2019-02-08 2024-01-02 Auris Health, Inc. Robotically controlled clot manipulation and removal
US11376083B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Determining robotic surgical assembly coupling status
US11399906B2 (en) * 2019-06-27 2022-08-02 Cilag Gmbh International Robotic surgical system for controlling close operation of end-effectors
EP4034025A4 (fr) * 2019-09-27 2023-12-20 Auris Health, Inc. Écarteurs médicaux actionnés par robot
WO2021198796A1 (fr) * 2020-03-31 2021-10-07 Auris Health, Inc. Schémas de contrôle passif et actif de bras avec intégration de capteurs pour supporter une télé-opération et une interaction manuelle directe
US20220226059A1 (en) * 2021-01-21 2022-07-21 Ethicon Llc Multi-functon actuation and articulation end effectors

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017220822A1 (fr) * 2016-06-23 2017-12-28 Fundación Tecnalia Research & Innovation Système robotique chirurgical et procédé de manipulation d'un système robotique chirurgical
WO2019148154A1 (fr) * 2018-01-29 2019-08-01 Lang Philipp K Guidage par réalité augmentée pour interventions chirurgicales orthopédiques et autres
US20190365209A1 (en) * 2018-05-31 2019-12-05 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise

Also Published As

Publication number Publication date
US20230346490A1 (en) 2023-11-02
AU2022307541A1 (en) 2024-01-25
EP4366649A1 (fr) 2024-05-15
CA3226286A1 (fr) 2023-01-12
US20230008419A1 (en) 2023-01-12
US11648070B2 (en) 2023-05-16
US20230363837A1 (en) 2023-11-16

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